from Hardware.BaseFtSensor import BaseFt
import numpy as np
class Ftur5(BaseFt):
    def __init__(self):
        pass
    def SetRobot(self,robot_c,robot_r):
        self.rtde_c=robot_c
        self.rtde_r=robot_r

    def start(self):
        None

    def GetForce(self):
        return np.array(self.rtde_r.getActualTCPForce())

    def FtZero(self):
        self.rtde_c.zeroFtSensor()

    def DisConnect(self):
        pass